Posts by PnsStarter

just connect via FTP to roboguide robot (127.0.0.1:21 for first6 robot) and paste

SYSFRAME.SV+ FRAMEVAR.VR

on MD; just like on real robot

Or I am missunderstanding something?

Quote from hoitzing

If you run into issues where 370 position registers are insufficient, I feel like there's some underlying software design issues.

YES.YES. software design issue...

You can always "store" your PR's inside a recipe TP program or load csv files or calculate nearly everything...

Keep in mind : use local vars as much as possible and not the other way around

And since a couple of years you're able to use local PR's

Quote from Tat_Iron_Man

What then? Are FANUC representatives coming to update the operating system/modify the control cabinet?

Yes, not onsite but reinstalling/reconfiguring the software at their own controllers and sending you a new image (Europe).

I have seen that they did so to increase TP-Pool as much as possible..

Hi Tat_Iron_Man,

This depends heavily on the robot configuration.

Additional options can influence this:

For example, you can configure fewer PRs for controllers with several groups.

Fanuc decides this when creating the specific operating system or it is "calculated" automatically

As fanuc has hundreds of options and some of these intervene very deeply in the system, none of this is exactly predictable.

And the "default" values may also change from version/revision to version/revision...

As end users, we do not really have the option to intervene.

Just because we think we can control everything via sysvars doesn't mean it's always a good idea...

Best

Hi Shubham_23,

I have not tested/looked at the code. But you write :

Quote from Shubham_23

NOTE: Little Endian is False always

On Windows computers with (x86/64/Intel) the endianness is Little endian.

On the actual robot with Motorola controller it is Big endian.

Best

Quote from Nation

Pretty rare you need to increase the stack size of a program.

I would completely agree with you if I hadn't seen last year at a Fanuc showcase that the stack had to be increased for a palletizing program (CRX pal template)..

The term Fault is a little misleading.

This is because the signal is also present if everything is OK, but the "final" reset signal is not yet present or has not been applied

For example, when switching from T1 to automatic or when the dead man switch in T1 is released.

Hi hoitzing,

It's actually quite simple:

Select another program ( e.g. a TP Program like abortit).

Check that none of the programs is running (bg, shell or "front")

Then delete all(!) programs that refer to named arrays/structures/vars.

(Since TP programs can use karel vars too, you might have to delete them also)

The order of deletion can also be important, depending on how the variables and routines are shared.

Afterwards delete the VR file(s). (also pay attention to the order here)

No restarts are necessary for this.

(maybe use controlled start)

Hi Xav91

This is a rare combination of features and workflow (nowadays).

The programs (kl source) still have to be translated on the controller. That's why you can't load them "directly".

There are several ways to translate the programs on the controller:

(check the karel manual)

Via KCL or with the help of another Karel program:

 KCL> TRANSLATE testprog DISPLAY LIST

or

Karel builtin: TRANSLATE(file_spec, listing_sw, status)

OPEN FILE util_file ('RW', 'hello.kl')
WRITE util_file ('PROGRAM hello', CR)
WRITE util_file ('%NOLOCKGROUP', CR)
WRITE util_file ('BEGIN', CR)
WRITE util_file (' WRITE (''hello world'', CR)', CR)
WRITE util_file ('END hello', CR)
CLOSE FILE util_file
TRANSLATE('hello', TRUE, status)
IF status = 0 THEN
LOAD('hello.pc', 0, status)
ENDIF
IF status = 0 THEN
CALL_PROG('hello', prog_index)
ENDIF

In general, I would recommend loading the programs automatically on the controller(FTP script) and having another ls/tp program created via script. This should replace the Karel program and call the individual programs. Since you know the Prognames during or befoer upload, generating another LS Prog is not a big task.

There are more solutions, like calling your progs indirect with SR's

best

Hi trobo0009,

I think you can order "shape generation 3 (R801)" for you crx...

Hi,

, I use external tools/ scripts like ftp batch and totalcommander to overcome these limitations....

Hi HalbesYoyo,

frame "information" is stored in framevar file.

e.g. TouchUp positions and comments.

(Inside SETUP_DATA Array...)

best

Quote from Racoon993

I'm using rack 36

Why are you using rack 36?

that rack is "internal" dcs input/output !

How is the plc connected?

The rack number defines the communication (protocol)

hard wired (modular IO) rack 1-16

Ethernet/IP 89

profibus slave 67

....

Quote from ChrisFS

21 LOCAL_REGISTERS = 0,0,0;

You have to setup your local registers in detail screen of prog

e.g.

LOCAL_REGISTERS = R,PR,SR; -->LOCAL_REGISTERS = 3,7,1;

this will give you access to 3 local Register, 7 PR's and 1 StringReg

in your case:

LOCAL_REGISTERS = 3,2,0;

Local Regs 10001-10003

Local PRegs 10001-10002

best

Hi

use Offset command like

J PR[10001] 100% FINE Offset,PR[10002]

( using local vars)

-----

Example:

/PROG  TEST21

1:J P[1] 100% FINE    ;
2:  CALL SHAKE_RANDOM(5.1,1.1,1.1) ;
3:J P[1] 100% FINE    ;

/PROG  SHAKE_RANDOM

1:  !AR[1]: MinMaxRandomX ;
2:  !AR[2]: MinMaxRandomY ;
3:  !AR[3]: MinMaxRandomZ ;
4:  PR[10001]=LPOS    ;
5:  R[10001]=AR[1]*(-1)    ;
6:  R[10002]=AR[2]*(-1)    ;
7:  R[10003]=AR[3]*(-1)    ;
8:  !RAND2REG(Min,Max,targetReg) ;
9:  CALL RAND2REG(R[10001],AR[1],1) ;
10:  CALL RAND2REG(R[10002],AR[2],2) ;
11:  CALL RAND2REG(R[10003],AR[3],3) ;
12:  PR[10002,1]=R[1]    ;
13:  PR[10002,2]=R[2]    ;
14:  PR[10002,3]=R[3]    ;
21:  PR[10002,4]=0    ;
22:  PR[10002,5]=0    ;
23:  PR[10002,6]=0    ;
24:J PR[10001] 100% FINE Offset,PR[10002]    ;

No global Vars Version:
1:  !AR[1]: MinMaxRandomX ;
2:  !AR[2]: MinMaxRandomY ;
3:  !AR[3]: MinMaxRandomZ ;
4:  PR[10001]=LPOS    ;
5:  R[10001]=AR[1]*(-1)    ;
6:  R[10002]=AR[2]*(-1)    ;
7:  R[10003]=AR[3]*(-1)    ;
8:  !RAND2REG(Min,Max,targetReg) ;
15: CALL RAND2REG(R[10001],AR[1],10001) ;
16: CALL RAND2REG(R[10002],AR[2],10002) ;
17: CALL RAND2REG(R[10003],AR[3],10003) ;
18: PR[10002,1]=R[10001]    ;
19: PR[10002,2]=R[10002]    ;
20: PR[10002,3]=R[10003]    ;
21:  PR[10002,4]=0    ;
22:  PR[10002,5]=0    ;
23:  PR[10002,6]=0    ;
24:J PR[10001] 100% FINE Offset,PR[10002]    ;

RAND2REG is the sub prog which generate pseudo random values:

TP-Tools/2reg/rand2reg at main · Backdate/TP-Tools (github.com)

best

@Lren

Quote from Lren

Yes, I understand that what if I want to access those logs while I am offsite?

I think that's a different issue.

It's about network infrastructure and remote maintenance.

The robot should/may not be connected directly to the public network!

best

Hi Lren.

A web server runs on every Fanuc robot. (by default)

You can download the data with an http client, e.g. web browser or programmatically. The web server only supports http not https !

You can fetch the errXXX.ls files with http-client...

Hi nation ,

I had the same problem some time ago. Couldn't solve it at the time.

I reproduced the problem today in RG and it occurs with R-30iBPlus and RJ3iB(!).

I have not tested other controllers.

As you have already written, the $FRM_CHKTYP variable is of no use here.

Help is welcome!

Hi Samwebber44,

As far as I know this is not (directly) possible. (maybe I am wrong)

You can use a different CPC with other UserModel attached.

The CPC's can be disabled/enabled using various IO(types)

Keep safety in mind!

Hi ThiagoSaoPauloSkills,

hopefully this helps:

Add PART--> choose BOX --> switch to Image-Tab --> choose image and direction